NDLI: Time-energy optimal control of hyper-actuated mechanical systems with geometric path constraints

Content Provider	IEEE Xplore Digital Library
Author	Aldrich, J.B. Skelton, R.E.
Copyright Year	2005
Description	Author affiliation: Caltech/JPL Postdoctoral Scholars Program, Jet Propulsion Laboratory, Pasadena, CA 91109, USA, jaldrich@jpl.nasa.gov (Aldrich, J.B.)
Abstract	For a general class of Hyper-Actuated Mechanical Systems (HAMS) that is generalized to include robotic manipulators and tendon-driven tensegrity structures, this paper determines the tendon force inputs from a set of admissible, non-saturating inputs, that will move the rigid-body system from point A to point B along a prescribed path with minimum time and control energy. The approach herein utilizes the existence conditions and solution of a linear algebra problem that describes how the set of admissible tendon forces is mapped onto the set of path-dependent torques. Since this mapping is not one-to-one, free parameters in the control law always exist. This paper determines the best time-invariant free parameters. This yields a novel control law for HAMS that tracks the center of the admissible set and reduces the number of states in the optimal control problem to two. The prevalence of HAMS in nature is discussed. Numerical examples illustrate the method and demonstrate tensegrity’s superior maneuvering and saturation avoidance capabilities.
Starting Page	8246
Ending Page	8253
File Size	338198
Page Count	8
File Format	PDF
ISBN	0780395670
DOI	10.1109/CDC.2005.1583497
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-12-15
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	IEEE/EUCA
Subject Keyword	Optimal control Mechanical systems Actuators Tendons Control systems Robot sensing systems Robotics and automation Muscles Manipulators Force control
Content Type	Text
Resource Type	Article

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